I agree that Solibri is specifically designed to do this, but of course it is $$.
Collision Detection with a hotlinked module, IFC or otherwise, is relatively easy, but of course not as fully visual as Solibri as you have to double click on every collision entry to see things. I know this isn't what you want, but for others, setting the Collision criteria to exclude any elements on the hotlinked module's master ID (or layer) for group 1 (e.g.) and include only the elements of the hotlinked module's master ID (or layer) for group 2 lets you check collisions between the two models. Screenshot below of a couple of walls drawn through a sample IFC file from Solibri.
But, in your case, you don't want collisions if I understand you... you want to find any of your modeled structural elements that do not 100% overlap the engineer's IFC structural model. (I believe the more usual thing is to use the IFC as the actual structural, and look for collisions with the architectural model.). The only idea I have to find corresponding elements that do not overlap 100% is to make a temporary copy of the file, do a solid element subtract of the IFC from your structural elements (and vice versa separately) to see if there is anything left visible to zoom into in 3D... if the element IDs are unique, then you can find the non-coinciding elements. Seems painful.
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